Question on Sentinel Body Frame Origin

[jmltt]

I'm trying to set up a mocap system for the source of EV position estimates for the Sentinel. I'm assuming I need to align the rigid body pivot point generated by the mocap system with the origin of the body frame used by the EKF.

I was wondering if anyone knew what the best way to tie the body frame origin to a physical location on the Sentinel was. I was thinking I should use the EKF2_IMU_POS_X/Y/Z parameters, but I wasn't sure which of the two IMUs that parameter is pointing to.

Does anyone know which IMU is being referenced by the EKF2_IMU_POS parameters and would that be the best way of identifying the body frame origin w/rt a physical location or is there a better way to accomplish that?

Thanks

[Chad Sweet]

You can see the extrinsics measurements in /etc/modalai/extrinsics.conf

[jmltt]

@Chad-Sweet That clears it up, thanks!